Intelligent warehousing system, method for fetching and placing material and background processing terminal thereof

ABSTRACT

An intelligent warehousing system, a material fetching and placing method and a processing terminal thereof, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot, the first warehousing robot is configured to receive a first scheduling instruction, move to a fixed shelf to fetch and place a material box according to the first scheduling instruction, and handle the material box to a first target position; and the second warehousing robot is configured to receive a second scheduling instruction, move to a portable shelf according to the second scheduling instruction, and handle the portable shelf to a second target position. Through the technical solution of the present application, compatibility of the intelligent warehousing system is improved, which may be applied to a warehouse with different shelves, thus improving the utilization rate of the warehouse.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Application No. PCT/CN2020/073624, filed on Jan. 21, 2020, which claims priority to Chinese Patent Application No. 201910054856.X, filed on Jan. 21, 2019, and Chinese Patent Application No. 201920101241.3, filed on Jan. 21, 2019. All of the aforementioned patent applications are hereby incorporated by reference in their entireties.

TECHNICAL FIELD

The present application relates to the field of intelligent warehousing, in particular to an intelligent warehousing system, a method for fetching and placing a material, and a background processing terminal thereof.

BACKGROUND

With the rise and development of e-commerce and online shopping, it has brought great development opportunities to the intelligentization of warehousing logistics of materials. In recent years, technologies of handling a material based on a warehousing robot have become increasingly mature. In the prior art, a warehousing robot may lift a shelf containing a material through a lift round plate on a top of the warehousing robot, and move by scanning a two-dimensional code on the ground, so that a shelf where an ordered material is located can be handled to a manual processing area.

In a process of implementing the present application, the inventor finds that the related technologies have the following defects: since a handling object of the warehousing robot is a shelf with a material stored, there is a certain limit on the height of the shelf; otherwise, there is a risk of dumping. At the same time, due to the limited height of the shelf, space of the warehouse cannot be fully utilized, resulting in a low utilization rate of the warehouse.

SUMMARY

Embodiments of the present application provides an intelligent warehousing system, which improves the compatibility of the intelligent warehousing system by providing different types of warehousing robots for fetching and placing a material, and may be applied to a warehouse with different shelves, thus improving the utilization rate of the warehouse.

The present application provides an intelligent warehousing system, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot,

where the first warehousing robot is configured to receive a first scheduling instruction, move to a fixed shelf to fetch and place a material box according to the first scheduling instruction, and handle the material box to a first target position; and

the second warehousing robot is configured to receive a second scheduling instruction, move to a portable shelf according to the second scheduling instruction, and handle the portable shelf to a second target position.

Optically, the intelligent warehousing system further includes the fixed shelf and/or the portable shelf,

where the fixed shelf is configured to store a material box and/or a pallet;

the portable shelf is configured to store a material, a material box and/or a pallet;

the material box is configured to store a material; and

the pallet is configured to hold a material or a material box.

Optically, the fixed shelf includes a first fixed shelf and/or a second fixed shelf, the portable shelf includes a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf.

Optically, there is one or more first fixed shelves, and/or one or more first portable shelves, and/or one or more combined shelves, respectively, and the first fixed shelves, and/or the first portable shelves, and/or the combined shelves are respectively located at different positions.

Optically, shelves of a same type in the first fixed shelf, the first portable shelf, and the combined shelf are respectively located at different positions in a same area.

Optically, the warehousing system further includes a station, where the station is provided with a put wall, the first target position and the second target position are located in a preset area of the station, and the station is configured to sort a material in the material box handled by the first warehousing robot and a material in the portable shelf handled by the second warehousing robot to a put wall corresponding to the materials.

Optically, the first warehousing robot includes a mobile chassis, a handling component, a lift component, and a storage shelf, where the storage shelf is configured to store a material box handled by the handling component from the fixed shelf.

Optically, the intelligent warehousing system further includes: a processing terminal, where the processing terminal is configured to send the first scheduling instruction and/or the second scheduling instruction, the first scheduling instruction is used to instruct the first warehousing robot to fetch and place the material box from the fixed shelf, and the second scheduling instruction is used to instruct the second warehousing robot to move the portable shelf.

Optically, the processing terminal stores material storage association information, and the material storage association information includes at least one of the following information:

material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials.

Optically, the processing terminal is specifically configured to:

obtain information of a material to be fetched and placed, and determine a position of the material to be fetched and placed according to the information of the material to be fetched and placed and the material storage association information;

send, according to the position of the material to be fetched and placed, the first scheduling instruction to instruct the first warehousing robot to move to the fixed shelf to fetch and place the material to fetch and place the material; or,

send the second scheduling instruction to instruct the second warehousing robot to move to the portable shelf to fetch and place the material.

An embodiment of the present application provides a method for fetching and placing a material, which is applied to a processing terminal. The processing terminal is applied to an intelligent warehousing system, the intelligent warehousing system includes a first warehousing robot and a second warehousing robot, and the method includes:

obtaining information of a material to be fetched and placed;

sending, according to the information of the material to be fetched and placed, a first scheduling instruction to instruct the first warehousing robot to move to a fixed shelf to fetch and place a material box, and handle the material box to a first target position; and/or,

sending a second scheduling instruction to instruct the second warehousing robot to move to a portable shelf, and handle the portable shelf to a second target position.

Optically, the method further includes:

storing material storage association information, where

where the material storage association information includes at least one of the following information:

material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials.

Optically, the method further includes:

determining, according to the information of the material to be fetched and placed, an attribute of a container for storing the material to be fetched and placed, where the attribute of the container includes a material box of the fixed shelf, a material box of the portable shelf, and/or the portable shelf; and

determining, according to the attribute of the container, a warehousing robot for material fetching and placing from the first warehousing robot and the second warehousing robot, where the material box of the fixed shelf corresponds to the first warehousing robot, and the material box of the portable shelf or the portable shelf corresponds to the second warehousing robot.

Optically, the fixed shelf includes a first fixed shelf and/or a second fixed shelf, the portable shelf includes a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf;

when a type of the shelf is a combined shelf, the information of the material to be fetched and placed includes: order information of a material to be fetched, and the method specifically includes:

obtaining the order information of the material to be fetched;

determining, according to the order information of the material to be fetched and the material storage association information, an attribute of a container where the material to be fetched is located;

if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, sending the first scheduling instruction to instruct the first warehousing robot to move to the second fixed shelf of the combined shelf where the material to be fetched is located, and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf to realize material fetching; and

if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, sending the second scheduling instruction to instruct the second warehousing robot to move to the second portable shelf of the combined shelf where the material to be fetched is located, and move the corresponding second portable shelf to realize material fetching.

Optically, the fixed shelf includes a first fixed shelf and/or a second fixed shelf, the portable shelf includes a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf;

when a type of the shelf includes the combined shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, the information of the material to be fetched and placed includes: order information of a material to be fetched, and the method specifically includes:

obtaining the order information of the material to be fetched;

determining, according to the order information of the material to be fetched and the material storage association information, an attribute of a container where the material to be fetched is located;

if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, sending the first scheduling instruction to instruct the first warehousing robot to move to the second fixed shelf of the combined shelf where the material to be fetched is located, and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf, and store the material box to the first portable shelf at the aisle entrance, when it is necessary to move the first portable shelf at the aisle entrance, sending the second scheduling instruction to instruct the second warehousing robot to handle the first portable shelf to a designated position;

if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, sending the second scheduling instruction to instruct the second warehousing robot to move to the second portable shelf of the combined shelf where the material to be fetched is located or the first portable shelf at the aisle entrance, and move the corresponding second portable shelf or the first portable shelf to realize material fetching.

Optically, the fixed shelf includes a first fixed shelf and/or a second fixed shelf, the portable shelf includes a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf;

when a type of the shelf comprises the first fixed shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, and the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method comprises:

obtaining the order information of the material to be fetched;

determining, according to the order information of the material to be fetched and the material storage association information, an attribute of a container where the material to be fetched is located;

if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, sending the first scheduling instruction to instruct the first warehousing robot to move to the first fixed shelf where the material to be fetched is located, fetch a material box where the material to be fetched is located from the corresponding first fixed shelf, and store the material box to the first portable shelf at the aisle entrance, and when it is necessary to move the first portable shelf at the aisle entrance, sending the second scheduling instruction to instruct the second warehousing robot to move the first portable shelf to a designated position;

if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, sending the second scheduling instruction to instruct the second warehousing robot to move to the first portable shelf where the material to be fetched is located, and move the corresponding first portable shelf to realize material fetching.

Optically, the method further includes:

determining, according to the information of the material to be fetched and placed, a type of the material to be fetched and placed, where the type of the material to be fetched and placed includes a first ordinary material stored on the fixed shelf, a second ordinary material stored on the portable shelf, a large material, or a pendant material;

determining, according to the type of the material to be fetched and placed, a warehousing robot for material fetching and placing from the first warehousing robot and/or the second warehousing robot, where the first ordinary material corresponds to the first warehousing robot, and the second ordinary material, the large material or the pendant material correspond to the second warehousing robot.

Optically, the fixed shelf includes a first fixed shelf and/or a second fixed shelf, the portable shelf includes a first portable shelf and/or a second portable shelf, the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf, and the method further includes:

determining, according to the information of the material to be fetched and placed, a type of a shelf for storing the material to be fetched and placed, where the type of the shelf includes the first fixed shelf, the first portable shelf and the combined shelf formed by the second fixed shelf and the second portable shelf;

determining, according to the type of the shelf, a warehousing robot for material fetching and placing from the first warehousing robot and the second warehousing robot, where the first fixed shelf and the second fixed shelf correspond to the first warehousing robot, and the first portable shelf and the second portable shelf correspond to the second warehousing robot.

Optically, the type of the shelf is the combined shelf, and the information of the material to be fetched and placed includes: order information of a material to be fetched, and the method specifically includes:

obtaining the order information of the material to be fetched; querying storage association information of the material to be fetched according to the order information of the material to be fetched; determining the type of the shelf where the material to be fetched is located according to the storage association information of the material to be fetched; and sending the first scheduling instruction to instruct the first warehousing robot to move to the second fixed shelf in the combined shelf where the material to be fetched is located; and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf to realize material fetching; or sending the second scheduling instruction to instruct the second warehousing robot to move to the second portable shelf in the combined shelf where the material to be fetched is located; and move the corresponding second portable shelf to realize material fetching.

Optically, the type of the shelf includes the combined shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, the information of the material to be fetched and placed includes: information of a material to be fetched, and the method specifically includes:

obtaining the order information of the material to be fetched, and querying a type of the material to be fetched according to the order information of the material to be fetched, where the type of the material to be fetched includes a first ordinary material, a second ordinary material, a large material or a pendant material;

when the material to be fetched is the second ordinary material, the large material or the pendant material, instructing the second warehousing robot to fetch the material;

when the material to be fetched is the first ordinary material, instructing the first warehousing robot to fetch a material box storing the material to be fetched from the second fixed shelf of the combined shelf, store the material box to a free first portable shelf at the aisle entrance, and sending the second scheduling instruction to instruct the second warehousing robot to move the first portable shelf to a designated position when it is necessary to move the first portable shelf at the aisle entrance.

Optically, the type of the shelf includes the first fixed shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, and information of the material to be fetched and placed includes: order information of a material to be fetched, and the method specifically includes:

obtaining the order information of the material to be fetched, and querying storage association information of the material to be fetched according to the order information of the material to be fetched;

determining, according to the storage association information of the material to be fetched, a type of a shelf where the material to be fetched is located;

sending the first scheduling instruction to instruct the first warehousing robot to move to the first fixed shelf where the material is located, fetch the material box where the material is located from the corresponding first fixed shelf, and move the material box to the first portable shelf at the aisle entrance, and sending the second scheduling instruction to instruct the second warehousing robot to move the first portable shelf to a designated position when it is necessary to move the first portable shelf at the aisle entrance, or,

sending the second scheduling instruction to instruct the second warehousing robot to move to the first portable shelf where the material is located, and move the corresponding first portable shelf to realize material fetching.

Optically, the method further includes:

determining, at least according to the determined warehousing robot for material fetching and placing and material storage association information, a traveling route of the warehousing robot.

Optically, the method further includes:

determining, according to current positions and working states of the first warehousing robot and the second warehousing robot, a warehousing robot with optimal efficiency and a traveling route thereof.

Optically, the traveling route includes a main road and an aisle, and the method further includes:

when there is a warehousing robot moving in the aisle, locking the aisle as an one-way street, or,

when the first warehousing robot and the second warehousing robot move in the aisle at the same time, making the second warehousing robot to enter into a nearest first fixed shelf to make the first warehousing robot move normally, or,

when there are more than two warehousing robots of a same type traveling in the aisle at the same time, determining a moving order according to a preset task priority.

Embodiments of the present application provides a processing terminal, which is characterized by including:

at least one processor; and,

a memory, communication ally connected with the at least one processor; where,

the memory stores an instruction executable by the at least one processor, and the instruction is executed by the at least one processor to enable the at least one processor to execute the material fetching and placing method described above.

An embodiment of the present application provides a non-transitory computer readable storage medium, where the non-transitory computer readable storage medium stores a computer executable instruction, and the computer executable instruction is used to enable a computer to execute the material fetching and placing method described above.

An embodiment of the present application further provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer readable storage medium. The computer program includes a program instruction which, when being executed by a computer, enables the computer to execute the material fetching and placing method described above.

In the intelligent warehousing system provided by the embodiments of the present application, by a first warehousing robot receiving a first scheduling instruction, moving to a fixed shelf to fetch and place a material according to the first scheduling instruction, and handling the material to a first target position, and a second warehousing robot being configured to receive a second scheduling instruction, moving to a portable shelf according to the second scheduling instruction, and handling the portable shelf to a second target position, compatibility of the intelligent warehousing system is improved, which may be applied to a warehouse with different shelves, thus improving the utilization rate of the warehouse.

BRIEF DESCRIPTION OF DRAWINGS

One or more embodiments are illustrated by figures in the corresponding drawings, which does not constitute limitation to the embodiments. Elements with a same reference number in the drawings represent similar elements. Unless otherwise stated, the figures in the drawings do not constitute limitation of proportion.

FIG. 1 is a composition diagram of an intelligent warehousing system provided by an embodiment of the present application;

FIG. 2a , FIG. 2B, FIG. 3a , and FIG. 3b are respectively layout diagrams of combined shelves in an intelligent warehousing system provided by an embodiment of the present application;

FIG. 4 is a structural diagram of a first warehousing robot provided by an embodiment of the present application;

FIG. 5 is a structural diagram of a second warehousing robot provided by an embodiment of the present application;

FIG. 6 is a flow diagram of a material fetching and placing method provided by an embodiment of the present application;

FIG. 7a is a flow diagram of a material fetching and placing method provided by another embodiment of the present application;

FIG. 7b is a schematic diagram of an aisle entrance provided by an embodiment of the present application;

FIG. 8 is a flow diagram of a material fetching and placing method provided by another embodiment of the present application;

FIG. 9 is a flow diagram of a material fetching and placing method provided by another embodiment of the present application;

FIG. 10 is a flow diagram of a material fetching and placing method provided by an embodiment of the present application;

FIG. 11 is a schematic diagram of a processing terminal provided by an embodiment of the present application; and

FIG. 12 is a structural diagram of a combined shelf provided by an embodiment of the present application.

DESCRIPTION OF EMBODIMENTS

In order to make purposes, technical solutions and advantages of the present application more clear, the present application is further described in detail in conjunction with drawings and embodiments. It should be understood that specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

Unless otherwise defined, all technical and scientific terms used in the present specification have the same meanings as those commonly understood by persons of skills in the technical field of the present application. Terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not used to limit the present application. The term “and/or” used in the present specification includes any and all combinations of one or more related listed items.

An intelligent warehousing system provided herein may be applied to any suitable industry or technology field, such as the field of intelligent warehousing, the field of intelligent logistics, the field of intelligent sorting, etc. The embodiments of the present application takes an intelligent warehousing system, which is applied in the field of intelligent warehousing and can intelligently fetch and place a material according to an order of the material, as an example.

In a schematic diagram of a composition of an intelligent warehousing system provided by an embodiment of the present application, as shown in FIG. 1, the intelligent warehousing system 100 includes a first warehousing robot 10 and a second warehousing robot 20, where the first warehousing robot 10 and the second warehousing robot 20 may be connected to a processing terminal 60 through a network, and the network may be a wired network or a wireless network. The first warehousing robot 10 is configured to fetch and place a material box on a fixed shelf 50, and there is a material stored in the material box; the second warehousing robot 20 is configured to move a portable shelf 30, and the portable shelf 30 may store a material box or a material 40, where the material may be a large commodity, a pendant commodity or an ordinary commodity, where the ordinary commodity may include a first ordinary commodity, or a second ordinary commodity. The first ordinary commodity is usually stored in the material box, and the second ordinary commodity may be directly stored on the portable shelf 30. The second ordinary commodity may usually be a commodity with relatively large sales volume, for example, a popular commodity, which may be directly stored on the portable shelf 30 to save time for loading the commodity into the material box.

In the embodiment of the present application, the first warehousing robot 10 may receive a first scheduling instruction, where the first scheduling instruction may be used to instruct the first warehousing robot 10 to move to the fixed shelf 50 to fetch and place the material box, and may handle the material box to a first target position, where the first target position may be preset different positions, such as a material sorting platform or a material transfer platform.

In the embodiment of the present application, the second warehousing robot 20 may receive a second scheduling instruction, where the second scheduling instruction may be used to instruct the first warehousing robot 20 to move to the portable shelf 30, and may handle the portable shelf to a second target position, where the second target position may be preset different positions, such as a material sorting platform or a material transfer platform.

In the embodiment of the present application, the warehousing system 100 may also include a station, the station is provided with a put wall, the first target position and the second target position may be located in a preset area of the station, and the station is configured to sort a material in the material box handled by the first warehousing robot 10 and a material on the portable shelf handled by the second warehousing robot 20 to a put wall corresponding to the materials.

In the embodiment of the present application, both the first target position and the second target position can be located in a material processing area, such as an area where the station or an automatic transportation device is located. When the first target position and the second target position are located on the station, there may be a plurality of stations. Therefore, the first target position and the second target position may be determined according to a position of the station. Each station is provided with a put wall. After handling a material to the station, the warehousing robot sorts a material corresponding to a corresponding order to the put wall. Each station may set a separate area in the put wall to place a large material or a pendant material; or a separate station is set to deal with the large material, or the sorted material is sent in the station to the automatic transportation device, for example, a conveyor belt, etc. After sorting a material at one of the stations, each warehousing robot may send remaining materials to other stations for sorting. When the first target position and the second target position are located in the area where the automatic transportation device is located, the material fetched by the warehousing robot is directly sent to the automatic transportation device and sorted in a traveling process of the automatic transportation device. After the put wall is allocated, the first warehousing robot may be used to send the material box to a corresponding packing area or a secondary sorting area; or the second warehousing robot may be used to send the put wall to the packing area or the secondary sorting area.

In the embodiment of the present application, the intelligent warehousing system 100 may further include a fixed shelf 50 or a portable shelf 30, or both the fixed shelf 50 and the portable shelf 30, where the fixed shelf 50 is configured to store a material box and/or a pallet; the portable shelf 30 is configured to store a material, a material box and/or a pallet; the material box is configured to store a material; and the pallet is configured to hold a material or a material box. The pallet for holding a material is placed on the portable shelf 30, and the pallet for holding a material box may be placed on the portable shelf 30 or the fixed shelf 50.

In the embodiment of the present application, the fixed shelf 50 may include a first fixed shelf 501 and/or a second fixed shelf 502, and the portable shelf 30 includes a first portable shelf 301 and/or a second portable shelf 302, where the second portable shelf 302 is located within a lower space of the second fixed shelf 502 to form a combined shelf, so as to save warehouse space. Structures of the first portable shelf 301 and the second portable shelf 302 may be the same or different, and are not limited by the specific embodiments of the present application.

In the embodiment of the present application, there may be one or more first warehousing robots 10, one or more second warehousing robots 20, one or more first portable shelves 301, one or more second portable shelves 302, one or more first fixed shelves 501, one or more second fixed shelves 502, and one or more processing terminals 60, and there may be one or more combined shelf composed of the second fixed shelf 502 and the second portable shelf 302. At the same time, the first warehousing robots 10, the second warehousing robots 20, the first portable shelves 301, the first fixed shelves 501, and the combined shelves composed of the second fixed shelves 502 and the second portable shelves 302 may be located in different positions in the warehouse, and these positions may be divided into different areas. For example, a specific area A is divided in the warehouse to store the first fixed shelves 501; a specific area B is divided to store the first portable shelves 301; and a specific area C is divided to store the combined shelves composed of the second fixed shelves 502 and the second portable shelves 302.

In the embodiment of the present application, the fixed shelf and the portable shelf may be deployed in a mixed way in the whole warehouse, or in a regional way. In a case of regional way, when a fetching and placing task is assigned, a fetching task of the first warehousing robot may be assigned to a first fixed shelf area preferentially, such as the specific area A. When there is no material corresponding to a task to be assigned in area A, it may enter other areas, such as combined shelf area, such as the specific area C, to fetch a material. For example, after receiving an order, a material box and a shelf where material SKU (Stock Keeping Unit, i.e., a basic unit of stock input-output measurement) information is located is queried. If the shelf is in area A, the task is assigned to the first warehousing robot; if a material corresponding to the material SKU information is in area C, the task is assigned according to a robot type corresponding to the shelf corresponding to the SKU information; if the a type of the shelf corresponds to the first warehousing robot, the task is assigned to the first warehousing robot; if the type of the shelf corresponds to the second warehousing robot, the task is assigned to the second warehousing robot. If it is queried that there are corresponding materials in area A and area C according to the SKU information, the task in area A will be assigned to the first warehouse robot preferentially, or it may not be assigned to the first warehouse robot preferentially but may be uniformly assigned according to fetching efficiency of the warehouse robots.

In the embodiment of the present application, in different warehouses, there may be different first fixed shelves 501, different first portable shelves 301 and combined shelves composed of different second fixed shelves 502 and different second portable shelves 302. Moreover, various different types of shelves may have a plurality of combinations so as to form different warehouses. There may be one or more first warehousing robots 10 and one or more second warehousing robots 20 in different warehouses.

In the embodiment of the present application, for example, at least two second fixed shelves 502 may be placed side by side in a vertical direction, and at least one second portable shelf 302 may be placed within a space formed by the two fixed shelves 502, so as to form a combined shelf, where the two second fixed shelves 502 may be a multi-layer space including a storage box. A plurality of material boxes may be placed side by side in an X-axis (horizontal) direction of each level of space. At the same time, one material box or two or more material boxes may be placed in a Y-axis (vertical) direction of each level of space. If one material box is placed in the vertical direction of each level of space, a second portable shelf 302 may be placed in the vertical direction in the lower space formed by the two fixed shelves 502; if at least two material boxes may be placed in the vertical direction of each layer of space, at least two second portable shelves 302 may be placed side by side in the vertical direction in the lower space formed by the two fixed shelves 502. For specific schematic diagram, reference please made to FIG. 2a , FIG. 2b , FIG. 3a , and FIG. 3b , where FIG. 2a is a schematic diagram in which a portable shelf is placed under two fixed shelves, where the fixed shelf is a fixed shelf with a single depth place (i.e., one material box is placed in the Y-axis direction); there are baffle plates on the two fixed shelves; and there are baffle plates on both sides of the shelves. FIG. 2b is a schematic diagram in which a portable shelf is placed under the two fixed shelves, where the fixed shelf is a fixed shelf with a single depth place (i.e., one material box is placed in the Y-axis direction); there is no baffle plate on the two fixed shelves; and there is no baffle plate on both sides of the shelves. FIG. 3a is a schematic diagram in which two portable shelves are placed under the two fixed shelves, where the fixed shelf is a fixed shelf with two depth places (i.e., two material boxes are placed in the Y-axis direction); there are baffle plates on the two fixed shelves; and there are baffle plates on both sides of the shelves. FIG. 3B is a schematic diagram in which two portable shelves are placed under the two fixed shelves, where the fixed shelf is a fixed shelf with two depth places (i.e., two material boxes are placed in the Y-axis direction); there is no baffle plate on the two fixed shelves; and there is no baffle plate on both sides of the shelf. It should be noted that, for each of the two depth places fixed shelf in FIG. 3B, two single depth place fixed shelves with no baffle plate (as shown in FIG. 2b ) may be placed side by side along the Y-axis direction, and two single depth place fixed shelves form a two depth places fixed shelf.

In the embodiment of the present application, there are different types of shelves, such as the first portable shelf 301, the second portable shelf 302, the first fixed shelf 501, the second fixed shelf 502, and the combined shelf formed by the combination of the first portable shelf 301 and the first fixed shelf 501. Moreover, the number of the shelf of each type may be one or more. Therefore, in a warehouse where shelves are placed, there may be a variety of different types of layout manners. For example, the warehouse only contains the first portable shelf 301 and the first fixed shelf 501, or the warehouse contains the combined shelf and the first portable shelf 301, the warehouse contains the combined shelf and the first fixed shelf 501, or the warehouse contains the combined shelf, the first portable shelf 301, and the first fixed shelf 501. For the first portable shelf 301, there may be various ways to store a material, one is to store the material directly on the shelf, the other is to store the material in the material box on the shelf; or the material and/or the material box are stored on a pallet, and the pallet is placed on the first portable shelf. In addition, different portable shelves may be located in different positions, for example, in different aisles or aisle entrances. When positions of the shelves are different, there are also a variety of flexible layout manners. Based on the above situation, there are dozens of layout manners for the shelves in the warehouse, which may be understood by persons of skills in the art, and will not be described in detail here.

In the embodiment of the present application, the intelligent warehousing system 100 may further include: a processing terminal 60, where the processing terminal may be configured to send the first scheduling instruction and/or the second scheduling instruction, where the first scheduling instruction is used to instruct the first warehousing robot 10 to fetch and place a material from the fixed shelf 50, and the second scheduling instruction is used to instruct the second warehousing robot 20 to move the portable shelf 30.

In the embodiment of the present application, the processing terminal 60 may be a background server, a computer device with processing capability, or a terminal device with computing function or scheduling function. The processing terminal 60 may communicate with the first warehousing robot 10 and the second warehousing robot 20 respectively through a network for information interaction with the first warehousing robot 10 and the second warehousing robot 20, for example, sending a scheduling instruction to instruct the warehousing robot to fetch and place a material according to a traveling route. Moreover, the processing terminal 60 may also receive external data and information, such as material fetching order information, position information, and a variety of corresponding relationship information. When sending the scheduling instruction, the processing terminal 60 usually needs to determine a position of the material according to material fetching and placing information and material storage association information, and instruct a corresponding warehousing robot to fetch and place the material. For example, when a material of a material fetching order is located on a fixed shelf, the processing terminal 60 sends the first scheduling instruction to instruct the first warehousing robot 10 to move to the fixed shelf to fetch the material; and when the material of the material fetching order is located on a portable shelf, the processing terminal 60 sends the second scheduling instruction to instruct the second warehousing robot 10 to move the portable shelf to fetch the material. The scheduling instructions may include a receiving object of the instructions, a traveling route of the receiving object and specific execution content contained in the instructions. The receiving object may include the first warehousing robot 10 or the second warehousing robot 20; the traveling route may include a starting position, a traveling track, and a target position; and the specific execution content may include fetching a material or placing a material, etc.

In the embodiment of the present application, the processing terminal 60 may store the material storage association information, and the material storage association information includes at least one of the following information:

material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials.

The material identification information may be a variety of codes on the material, such as a two-dimensional code or a bar code or SKU information. The code information may include any one or more attributes of brand, model, configuration, grade, design and color, packaging capacity, unit, production date, expiration date, purpose, price, production place, etc.

The material box identification information may be identified by different serial numbers. Each material box has its own specific serial number. The serial number information may include one or more of model, specification, type and the like.

The shelf identification information may be numbered according to different types of shelves and their layout positions to distinguish different shelves on different positions in the warehouse. For example, the shelf identification information GDHJ0101 represents a first fixed shelf in a first aisle.

The position information of a shelf for storing a material may identify a specific shelf position of a specific material in the warehouse. For example, position information of a specific shelf containing a material may be identified with a two-dimensional code map.

The position information of a material box for storing a material may identify a position of the material box storing the material on a specific shelf, for example, specific position information on a specific shelf in the warehouse.

In the embodiment of the present application, in order to determine a corresponding shelf or a material box according to the material information, for example, the specific commodity information is represented by an SKU number, and each commodity material corresponds to a unique SKU number, it is necessary to include a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, and a corresponding relationship between material boxes and materials in the material storage association information stored in the processing terminal 60 in advance. A corresponding shelf or material box may be determined through the corresponding relationship and material information, and a position of the material may be determined according to the shelf identification information, the material box identification information, the position information of the shelf or the position information of the material box.

The processing terminal 60 is specifically configured to:

obtain information of a material to be fetched and placed, and determine a position of the material to be fetched and placed according to the information of the material to be fetched and placed and the material storage association information;

send according to the position of the material to be fetched and placed, the first scheduling instruction to instruct the first warehousing robot to move to the fixed shelf to fetch and place the material to fetch and place the material; or,

send the second scheduling instruction to instruct the second warehousing robot to move to the portable shelf to fetch and place the material.

In the embodiment of the present application, when a material is added on the shelf, the processing terminal 60 may schedule the second warehousing robot to handle the portable shelf to a position where the material is added on the shelf and add a larger or pendant material on a corresponding portable shelf in advance; and the shelf where the operation of adding material is finished is handled to a corresponding position in the warehouse by the second warehousing robot; and in the processing terminal 60, a corresponding relationship between the shelf where the material box is located and a coordinate position of the shelf in the warehouse is set and stored. When the material is added by the first warehousing robot, a material with corresponding SKU information is stored in the material box handling identification, and a corresponding relationship among a corresponding shelf, shelf position information, the material box and the material SKU information is set and stored in the processing terminal 60. The first warehousing robot and the second warehousing robot are uniformly scheduled by the processing terminal. The processing terminal 60 stores a corresponding relationship among the material SKU information and the material box, the shelf, the shelf position and the type of the shelf, and performs assignment of material fetching by robots according to SKU information in the received order. After receiving a material order, the processing terminal 60 queries the material box corresponding to the SKU information, queries the shelf according to the material box, and assigns a task according to the type of shelf; if the type of the shelf corresponds to the first warehousing robot, assigns the task to the first warehousing robot; if the type of the shelf corresponds to the second warehousing robot, assigns the task to the second warehousing robot.

For a structural diagram of the first warehousing robot 10 provided by the embodiment of the present application, reference please made to FIG. 4. The first warehousing robot 10 includes a mobile chassis 101, a storage shelf 102, a handling component 103, and a lift component 104, where the storage shelf 102, the handling component 103 and the lift component 104 are all installed on the mobile chassis 101. The mobile chassis 101 is configured to enable the first warehousing robot 10 to move according to a planned path. The storage shelf 102 is configured to store a material. In some embodiments, the storage shelf 102 may include a plurality of storage units, each of which may hold one or more materials. The handling component 103 may move along a vertical direction so that a position of the handling component 103 is horizontally opposite to any one of the storage units. The handling component 103 is configured to handle a material between a preset position of the first fixed shelf 50 and any one of the storage units. The lift component 104 is configured to drive the handling component 103 to move along the vertical direction with respect to the storage shelf 102. The lift component 104 includes a lift transmission mechanism and a lift driving mechanism, where the lift driving mechanism is configured to provide a second driving force for the handling component 103 to move along the vertical direction with respect to the storage shelf 102, and the lift transmission mechanism is configured to transfer the second driving force to the handling component 103.

For a structural diagram of the second warehousing robot 20 provided by the embodiment of the present application, reference please made to FIG. 5. The second warehousing robot 20 includes a driving mechanism 201 and a lift mechanism 202, where the driving mechanism 201 may drive the second warehousing robot 20 to be able to move in a working space, for example, a warehouse, and the lift mechanism 202 is configured to handle the portable shelf 30. When the lift mechanism 202 is raised, it may lift the portable shelf 30 from the ground, and when the lift mechanism 202 is declined, it may place the portable shelf 30 on the ground.

In the intelligent warehousing system provided by the embodiments of the present application, by a first warehousing robot receiving a first scheduling instruction, moving to a fixed shelf to fetch and place a material according to the first scheduling instruction, and handling the material to a first target position, and a second warehousing robot being configured to receive a second scheduling instruction, move to a portable shelf according to the second scheduling instruction, and handle the portable shelf to a second target position, compatibility of the intelligent warehousing system is improved, which may be applied to a warehouse with different shelves, thus improving the utilization rate of the warehouse.

Reference please made to FIG. 6, an embodiment of the present application provides a flow diagram of a material fetching and placing method, which is applied to the processing terminal of the intelligent warehousing system, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot. As shown in FIG. 6, the method includes:

S61, obtaining information of a material to be fetched and placed.

In the embodiment of the present application, the information of the material to be fetched and placed may include order information of the material to be fetched or information of a material to be added on a shelf. The information of the material may be SKU information of the material. When the material need to be fetched, the SKU information of the material on the order may be obtained, and the information may include name, model, number, style, etc. of the material to be fetched. When the material needs to be added on the shelf, the material may be stored in the material box or on the shelf, and a relationship among the material information, the material box and the shelf may be established, for example, a corresponding relationship between SKU information of the material and material box identification information, a corresponding relationship between the SKU information of the material and shelf identification information. Moreover, when the material has been added on the shelf and placed on a designated position, position information is stored, where the position information may include specific position information of the shelf where the material is stored and specific position information of the material box where the material is stored.

S63, sending, according to the information of the material to be fetched and placed, a first scheduling instruction to instruct the first warehousing robot to move to a fixed shelf to fetch and place a material box, and handle the material box to a first target position, and/or, sending a second scheduling instruction to instruct the second warehousing robot to move to a portable shelf, and handle the portable shelf to a second target position.

In the embodiment of the present application, according to the information of the material to be fetched and placed, a type of the shelf for storing the material, an attribute of a container for storing the material, or a type of the material may be determined. A warehousing robot for material fetching and placing may be determined according to the information. Different types of shelves, attributes of containers or material types have corresponding warehousing robots. For example, the fixed shelf corresponds to the first warehousing robot, and the portable shelf corresponds to the second warehousing robot. When a corresponding warehousing robot is determined, a scheduling instruction may be sent to instruct the corresponding warehousing robot to fetch and place the material. For example, the first scheduling instruction may be sent to instruct the first warehousing robot to move to the fixed shelf to fetch and place the material, and handle the material to the first target position, and/or, the second scheduling instruction may be sent to instruct the second warehousing robot to move to the portable shelf, and handle the portable shelf to the second target position.

In the material fetching and placing method provided by the embodiment of the present application, by obtaining information of a material to be fetched and placed; according to the information of the material to be fetched and placed; and according to the position of the material to be fetched and placed, sending a first scheduling instruction to instruct a first warehousing robot to move to a fixed shelf to fetch and place a material, and handle the material to a first target position; and/or sending a second scheduling instruction to instruct a second warehousing robot to move to a portable shelf, and handle the portable shelf to a second target position, compatibility of the material fetching and placing method is improved, which may be applied to a warehouse with different shelves, improving utilization rate of the warehouse.

Reference please made to FIG. 7a , another embodiment of the present application provides a flow diagram of a material fetching and placing method, which is applied to the processing terminal of the intelligent warehousing system, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot. As shown in FIG. 7a , the method includes:

S71, storing material storage association information in advance.

In the embodiment of the present application, the material storage association information includes at least one of the following information:

material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials. These association information may be stored in a storage space of the processing terminal when the material are added on a shelf, or the user may input part of the information into the storage space of the processing terminal in advance, such as a shelf position, and then a corresponding relationship among a material, a material box and a shelf is established when the material are added on the shelf.

S73, obtaining information of a material to be fetched and placed.

In the embodiment of the present application, the information of the material to be fetched and placed may include order information of the material to be fetched or information of a material to be added on a shelf. The information of the material may be SKU information of the material. When the material need to be fetched, the SKU information of the material on the order may be obtained, and the information may include name, model, number, style, etc. of the material to be fetched. When the material needs to be added on the shelf, the material may be stored in the material box or on the shelf, and a relationship among the material information, the material box and the shelf may be established, for example, a corresponding relationship between SKU information of the material and material box identification information, a corresponding relationship between the SKU information of the material and shelf identification information. Moreover, when the material has been added on the shelf and placed on a designated position, position information is stored, where the position information may include specific position information of the shelf where the material is stored and specific position information of the material box where the material is stored.

S75, determining, according to the information of the material to be fetched and placed, an attribute of a container for storing the material to be fetched and placed.

In the embodiment of the present application, after obtaining the information of the material to be fetched and placed, for example, when it is necessary to fetch the material, SKU information of an ordered material may be obtained, and an attribute of a container for storing the material to be fetched may be determined according to the SKU information. The attribute of the container includes a material box of the fixed shelf, a material box of the portable shelf, and/or the portable shelf. Material storage association information corresponding to the SKU information may be queried according to the SKU information, and the attribute of the container for storing the SKU material may be determined from the material storage association information. When it is necessary to store a material, a material box or shelf that may store the material to be stored is determined according to SKU information of the material. For example, an ordinary material is stored in the material box, and a large material and a pendant material are stored in a first portable shelf and/or a second portable shelf; and the ordinary material may be a type of a material that may be placed in a material box and stored in a first fixed shelf, a second fixed shelf, the first portable shelf, and the second portable shelf, except for a large material and a pendant material.

In the embodiment of the present application, there may be different shelves, for example, the first fixed shelf and/or the second fixed shelf, the first portable shelf and/or the second portable shelf, where the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf.

In the embodiment of the present application, the attribute of the container for storing the material to be fetched and placed may be determined according to material fetching and placing information. For example, the attribute of the container for storing the material may be directly determined according to the SKU information. For example, if the material to be placed is a pendant material, an attribute of a container for storing the pendant material may be directly determined to be a portable shelf according to the material fetching and placing information, thus the pendant shelf is added on the portable shelf. In addition, if the attribute of the container cannot be determined directly according to the material fetching and placing information, the attribute of the container where the material to be fetched is located may be determined in combination with the material storage association information. For example, if a piece of ordinary material is to be fetched according to a material fetching order, the ordinary material may be stored in any material box on the fixed shelf. Then, a plurality of material boxes storing with the ordinary material may be determined according to SKU of the order, and when a specific material box is chosen from the plurality of material boxes, it may be determined according to the material storage association information.

S77, determining, according to the attribute of the container, a warehousing robot for material fetching and placing from the first warehousing robot and the second warehousing robot.

In the embodiment of the present application, different attributes of material boxes correspond to different warehousing robots, where the material box of the fixed shelf corresponds to the first warehousing robot, and the material box of the portable shelf or the portable shelf corresponds to the second warehousing robot.

In the embodiment of the present application, when there are different types of shelves, attributes of containers thereof are different from each other, and the methods for determining the warehousing robot are also different.

For example, when a type of the shelf is the combined shelf, if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, a first scheduling instruction is sent to instruct the first warehousing robot to move to the second fixed shelf of the combined shelf where the material to be fetched is located, and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf to realize material fetching; if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, a second scheduling instruction is sent to instruct the second warehousing robot to move to the second portable shelf of the combined shelf where the material to be fetched is located, and move the corresponding second fixed shelf to realize material fetching.

When a type of the shelf includes the combined shelf and the first portable shelf, and the first portable shelf is located at an aisle entrance, where a position of the aisle entrance is shown in FIG. 7b , if the attribute of the container where the material to be fetched is located corresponds to the material of the fixed shelf, a first scheduling instruction is sent to instruct the first warehousing robot to move to the second fixed shelf of the combined shelf where the material to be fetched is located, fetch a material box where the material to be fetched is located from the corresponding second fixed shelf, and store the material box to the first portable shelf at the aisle entrance; when it is necessary to move the first portable shelf at the aisle entrance, a second scheduling instruction is sent to instruct the second warehousing robot to handle the first portable shelf to a designated position; if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, the second scheduling instruction is sent to instruct the second warehousing robot to move to the second portable shelf of the combined shelf where the material to be fetched is located or the first portable shelf at the aisle entrance, and move the corresponding second portable shelf or the first portable shelf to realize material fetching.

When a type of the shelf includes the first fixed shelf and the first portable shelf, and the first portable shelf is located at an aisle entrance, if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, a first scheduling instruction is sent to instruct the first warehousing robot to move to the first fixed shelf where the material to be fetched is located, fetch a material box where the material to be fetched is located from the corresponding first fixed shelf, and store the material box to the first portable shelf at the aisle entrance, and when it is necessary to move the first portable shelf at the aisle entrance, a second scheduling instruction is sent to instruct the second warehousing robot to move the first portable shelf to a designated position; if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, the second scheduling instruction is sent to instruct the second warehousing robot to move to the first portable shelf where the material to be fetched is located, and move the corresponding first portable shelf realize material fetching.

By adopting the warehousing system using two types of robots in combination, when a material is added on the shelf, the processing terminal may schedule the second warehousing robot to handle the portable shelf to a position where the material is added on the shelf and add a larger or pendant material on a corresponding portable shelf in advance; and the shelf where the operation of adding material is finished is handled to a corresponding position in the warehouse by the second warehousing robot; and in the processing terminal, a corresponding relationship between the shelf where the material box is located and a coordinate position of the shelf in the warehouse may be set and stored.

When the material is added by the first warehousing robot, a corresponding SKU material is stored in a box with material box identification, and a corresponding relationship among a corresponding shelf, shelf position information, the box and an SKU material box in the processing terminal.

The two types of robots may be scheduled in a unified way. The processing terminal will store a corresponding relationship among the SKU and the material box, the shelf, the shelf position, and a type of the shelf, and perform assignment of material fetching by robots is performed according to SKU information in the received order. After receiving an order, the material box corresponding to the SKU is queried; the shelf is queried according to the material box, and a task is assigned according to an attribute of a container corresponding to the material box or the shelf; if the attribute of the container corresponds to the first warehousing robot, the task is assigned to the first warehousing robot; if the attribute of the container corresponds to the second warehousing robot, the task is assigned to the second warehousing robot. If a same SKU appears in shelves with different attributes, a robot is chosen according to an optimal efficiency scheme for task assignment. Different robots may handle the material to a processing area after fetching the material.

In the embodiment of the present application, it may be determined whether it is necessary to move the first portable shelf at the aisle entrance according to the number of materials on a shelf, or according to a current actual situation, for example, it may be determined whether it is necessary to move the first portable shelf to a sorting platform in time according to the number of materials to be sorted by the sorting platform.

The material fetching and placing method provided by the embodiment of the present application may determine a warehousing robot for material fetching and placing according to an attribute of a container storing a material, which improves speed of material fetching and placing. At the same time, it may be applied to different shelf scenarios and improve compatibility of the material fetching and placing method and utilization rate of a warehouse.

Reference please made to FIG. 8, another embodiment of the present application provides a flow diagram of a material fetching and placing method, which is applied to the processing terminal of the intelligent warehousing system, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot. As shown in FIG. 8, the method includes:

S81, storing material storage association information in advance.

In the embodiment of the present application, the material storage association information includes at least one of the following information:

material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials. These association information may be stored in a storage space of the processing terminal when the material are added on a shelf, or the user may input part of the information into the storage space of the processing terminal in advance, such as a shelf position, and then a corresponding relationship among a material, a material box and a shelf is established when the material are added on the shelf.

S83, obtaining information of a material to be fetched and placed.

In the embodiment of the present application, the information of the material to be fetched and placed may include order information of the material to be fetched or information of a material to be added on a shelf. The information of the material may be SKU information of the material. When the material need to be fetched, the SKU information of the material on the order may be obtained, and the information may include name, model, number, style, etc. of the material to be fetched. When the material needs to be added on the shelf, the material may be stored in the material box or on the shelf, and a relationship among the material information, the material box and the shelf may be established, for example, a corresponding relationship between SKU information of the material and material box identification information, a corresponding relationship between the SKU information of the material and shelf identification information. Moreover, when the material has been added on the shelf and placed on a designated position, position information is stored, where the position information may include specific position information of the shelf where the material is stored and specific position information of the material box where the material is stored.

S85, determining, according to the information of the material to be fetched and placed, a type of the material to be fetched and placed.

In the embodiment of the present application, the type of the material to be fetched and placed includes a first ordinary material stored on a fixed shelf, a second ordinary material stored on a portable shelf, a large material or a pendant material.

In the embodiment of the present application, after obtaining the information of the material to be fetched and placed, for example, when it is necessary to fetch the material, SKU information of an ordered material may be obtained, and a type of the material may be determined according to the SKU information. The type of the material to be fetched and placed includes the first ordinary material stored on the fixed shelf, the second ordinary material stored on the portable shelf, the large material or the pendant material. A first ordinary commodity is usually stored in a material box of the fixed shelf, and a second ordinary commodity may be directly stored on the portable shelf. The second ordinary commodity may usually be a commodity with relatively large sales volume, for example a popular commodity, which may be directly stored on the portable shelf to save time for loading the commodity into the material box. When it is necessary to fetch and place a material, a type of the material may be determined according to SKU information of the material to be fetched and placed, and a material box or a shelf that may store the material to be fetched and placed may be determined according to the type of the material. For example, the first ordinary material is stored on the fixed shelf, and the second ordinary material is placed on the portable shelf.

S87, determining, according to the type of the material to be fetched and placed, a warehousing robot for material fetching and placing from the first warehousing robot and/or the second warehousing robot.

In the embodiment of the present application, different types of materials correspond to different warehousing robots, where the first ordinary material corresponds to the first warehousing robot, and the second ordinary material, the large material or the pendant material correspond to the second warehousing robot. When the material to be fetched is the second ordinary material, the large material or the pendant material, the second warehousing robot is instructed to fetch the material; when the material to be fetched up is the first ordinary material, the first warehousing robot is instructed to fetch a material box storing the first ordinary material from the fixed shelf.

In the embodiment of the present application, the two types of robots may be scheduled in a unified way. The processing terminal will perform assignment of material fetching by robots according to SKU information in the received order according to a pre-stored position relationship among the material box, the material, the shelf, and the shelf.

If it is a large material or a pendant material, the second warehousing robot will be assigned to fetch a material. If it is a SKU of an ordinary material, the first warehousing robot is assigned to fetch a material. After fetching the material, the first warehousing robot will handle the material to the first portable shelf at the aisle entrance. When the first portable shelf at the aisle entrance is full of materials or needs to move, the second warehousing robot will be assigned to handle the shelf to an area to be processed. That is to say, the first warehousing robot is preferentially responsible for running in a same aisle, and the second warehousing robot is responsible for transportation on a main road. According to an order situation, a same aisle with a large material fetching volume may be assigned to a robot preferentially, and after finishing tasks in the aisle, the robot will go to another aisle with high priority to fetch a material.

The material fetching and placing method provided by the embodiment of the present application may determine a warehousing robot for material fetching and placing according to a type of the material to be fetched and placed, which improves speed of material fetching and placing. At the same time, using different types of warehousing robots to fetch and place different types of material may be applied to different scenarios, which improves compatibility of the material fetching and placing method and utilization rate of a warehouse.

Reference please made to FIG. 9, another embodiment of the present application provides a flow diagram of a material fetching and placing method, which is applied to the processing terminal of the intelligent warehousing system, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot. As shown in FIG. 9, the method includes:

S91, storing material storage association information in advance.

In the embodiment of the present application, the material storage association information includes at least one of the following information:

material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials. These association information may be stored in a storage space of the processing terminal when the material are added on a shelf, or the user may input part of the information into the storage space of the processing terminal in advance, such as a shelf position, and then a corresponding relationship among a material, a material box and a shelf is established when the material are added on the shelf.

S93, obtaining information of a material to be fetched and placed.

In the embodiment of the present application, the information of the material to be fetched and placed may include order information of the material to be fetched or information of a material to be added on a shelf. The information of the material may be SKU information of the material. When the material need to be fetched, the SKU information of the material on the order may be obtained, and the information may include name, model, number, style, etc. of the material to be fetched. When the material needs to be added on the shelf, the material may be stored in the material box or on the shelf, and a relationship among the material information, the material box and the shelf may be established, for example, a corresponding relationship between SKU information of the material and material box identification information, a corresponding relationship between the SKU information of the material and shelf identification information. Moreover, when the material has been added on the shelf and placed on a designated position, position information is stored, where the position information may include specific position information of the shelf where the material is stored and specific position information of the material box where the material is stored.

S95, determining, according to the information of the material to be fetched and placed, a type of a shelf for storing the material to be fetched and placed.

In the embodiment of the present application, there may be different shelves, for example, a first fixed shelf and/or a second fixed shelf, a first portable shelf and/or a second portable shelf, where the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf. The type of the shelf includes the first fixed shelf, the first portable shelf and the combined shelf formed by the second fixed shelf and the second portable shelf.

In the embodiment of the present application, after obtaining the information of the material to be fetched, for example, when it is necessary to fetch a material, SKU information of an ordered material may be obtained, and a type of a shelf for storing the material to be fetched may be determined according to the SKU information. The type of the shelf includes the first fixed shelf, the first portable shelf and the combined shelf formed by the second fixed shelf and the second portable shelf. Material storage association information corresponding to the SKU information may be queried according to the SKU information, and the type of the shelf for storing the SKU material may be determined from the material storage association information. When it is necessary to store a material, a material box or a shelf that may store the material to be stored is determined according to SKU information of the material. For example, an ordinary material is stored in the material box and a large material is stored on the shelf.

In the embodiment of the present application, the type of shelf for storing the material to be fetched and placed may be determined according to material fetching and placing information. For example, the type of the shelf storing the material may be directly determined according to the SKU information. For example, if a material to be placed is a pendant material, a type of a shelf for storing the pendant material may be directly determined to be the first portable shelf according to the material fetching and placing information, thus the pendant shelf is added on a free first portable shelf. In addition, if the type of the shelf cannot be determined directly according to the material fetching and placing information, the type of the shelf where the material to be fetched is located may be determined in combination with the material storage association information. For example, if a piece of ordinary material is to be fetched according to a material fetching order, the ordinary material may be stored in a material box on the first fixed shelf or a material box on the second fixed shelf of the combined shelf. Then, a plurality of material boxes that may store the ordinary material may be determined according to SKU of the order, and when a specific material box is chosen from the plurality of material boxes, it may be determined according to the material storage association information.

S97, determining, according to the type of the shelf, a warehousing robot for material fetching and placing from the first warehousing robot and the second warehousing robot.

In the embodiment of the present application, different types of shelves correspond to different warehousing robots, where the first fixed shelf and the second fixed shelf correspond to the first warehousing robot, and the first portable shelf and the second portable shelf correspond to the second warehousing robot.

In the embodiment of the present application, when there are different types of shelves, types of shelves are different, and the methods for determining the warehousing robot are also different.

When the type of the shelf is the combined shelf, a first scheduling instruction is sent to instruct the first warehousing robot to move to the second fixed shelf in the combined shelf where the material to be fetched is located, and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf to realize material fetching; or a second scheduling instruction is sent to instruct the second warehousing robot to move to the second portable shelf in the combined shelf where the material to be fetched is located, and move the corresponding second portable shelf to realize material fetching.

When the type of the shelf includes the combined shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, and the type of the material to be fetched includes a first ordinary material, a second ordinary material, a large material or a pendant material, when the material to be fetched is the second ordinary material, the large material or the pendant material, if the shelf for storing the material to be fetched and placed is the second portable shelf of the combined shelf, the second warehousing robot is instructed to fetch the material; and when the material to be fetched is the first ordinary material, if the shelf for storing the material to be fetched and placed is the second portable shelf of the combined shelf, the first warehousing robot is instructed to fetch a material box storing the material to be fetched from the second fixed shelf of the combined shelf, and store the material box to the first portable shelf at the lane entrance. When it is necessary to move the first portable shelf at the aisle entrance, a second scheduling instruction is sent to instruct the second warehousing robot to move the first portable shelf to a designated position.

When the type of the shelf includes the first fixed shelf and the first portable shelf, and the first portable shelf is located at an aisle entrance, a first scheduling instruction is sent to instruct the first warehousing robot to move to the first fixed shelf where the material is located, fetch the material box where the material is located from the corresponding first fixed shelf, and move the material box to the first portable shelf at the aisle entrance. When it is necessary to move the first portable shelf at the aisle entrance, a second scheduling instruction is sent to instruct the second warehousing robot to move the first portable shelf to a designated position; or the second scheduling instruction is sent to instruct the second warehousing robot to move to the first portable shelf where the material is located, and move the corresponding first portable shelf to realize material fetching.

After the warehouse robot is determined, in order to further improve efficiency of material fetching and placing, a traveling route of the warehouse robot may be planned. The embodiments of the present application are further explained in conjunction with FIG. 10.

In the material fetching and placing methods described in the above embodiments of the present application, as shown in FIG. 10, the method may further include:

S1001, determining, at least according to the determined warehousing robot for material fetching and placing and material storage association information, a traveling route of the warehousing robot.

In the embodiment of the present application, after the warehouse robot for material fetching and placing is determined, in order to realize effective material fetching and placing and avoid a traveling conflict between the warehouse robots, a shelf or a material box with a shortest traveling route of the warehouse robot may be determined according to the material storage association position information, for example, positions of the shelf or the material box. At the same time, after the traveling route is determined, whether there is a traveling conflict may be determined according to traveling routes of different warehousing robots. If there is a traveling conflict, an adjustment may be made again, such as by adjusting traveling speed of the warehousing robot or changing a traveling direction, etc.

It should be noted that the above method step may be applied to the above embodiments and performed after step S77, S87 or S97, respectively.

In the material fetching and placing method described in the above embodiment of the present application, the method may further include:

S1101, determining, according to current positions and working states of the first warehousing robot and the second warehousing robot, a warehousing robot with optimal efficiency and a traveling route thereof.

In the embodiment of the present application, in order to further reasonably plan a traveling route of the warehousing robot, a warehousing robot with optimal efficiency and a traveling route thereof may be determined in conjunction with a current position and a working state of the warehousing robot. Especially when there is a plurality of warehousing robots of a same type and materials to be fetched of a same type on a plurality of different positions at the same time in the warehousing system, current positions and working states of the warehousing robots may be used to determine the warehousing robot with optimal efficiency, which may obviously improve efficiency of material fetching. For example, a free warehousing robot which is closer to a position of the material to be fetched may be chosen preferentially as the warehousing robot for material fetching.

It should be noted that the above method step may be applied to the above embodiments and may be performed after step S77, S87, S97 or S1001, respectively.

Where the traveling route of the above embodiment includes a main road and an aisle, and the method further includes:

S1201, when there is a warehousing robot moving in the aisle, locking the aisle as an one-way street, or,

S1203, when the first warehousing robot and the second warehousing robot move in the aisle at the same time, making the second warehousing robot to enter into a nearest first fixed shelf to make the first warehousing robot move normally, or,

S1205, when there are more than two warehousing robots of a same type traveling in the aisle at the same time, determining a moving order according to a preset task priority.

It should be noted that the above steps may be applied to the above embodiments and performed after steps S1001 and s1101, respectively.

In the embodiment of the present application, when shelves in the warehouse are deployed in a mixed way or regardless of region, the first warehousing robot and the second warehousing robot may first enter the aisle through the main road, and then travel from the aisle to a target shelf. Alternatively, the second warehousing robot may directly take an optimal path from a bottom of the shelf to enter a position of the target shelf to fetch a material, and after fetching the material, enter the main road from the aisle to handle the material to a corresponding processing area. After a robot enters the aisle, other robots may be prevented from entering the aisle to avoid congestion; or the aisle may not be locked down, and other robots may also enter the aisle. If other robots are allowed to enter the aisle, an obstacle avoidance setting of a traveling route may be preferentially performed. For example, when the second warehousing robot meets the first warehousing robot in the aisle, the second warehousing robot may first enter into a bottom of a nearest fixed shelf to get out of the way to avoid collision. After a robot enters the aisle, the aisle may be turned into a one-way street to avoid congestion.

In the embodiment of the present application, when a path of the first warehousing robot is in the aisle and overlaps with a path of the second warehousing robot, if path directions of the two types of robots are the same, the two types of robots will move forward together. When the path of the second warehousing robot is vertical to the aisle, it may wait for the first warehousing robot to pass through just under a fixed shelf to avoid collision.

In the embodiment of the present application, when two second warehousing robots meet in the aisle, if path directions of the two warehousing robots are the same, the two warehousing robots will move forward together; otherwise, priorities of the two second warehousing robots or positions where they can evade may be considered to make one of the second warehousing robots to evade under a shelf.

It should be noted that since the above embodiment of the material fetching and placing method is based on a same inventive concept as the intelligent warehousing system, corresponding contents and beneficial effects of the above embodiments of the intelligent warehousing system are also applicable to the embodiment of the material fetching and placing method, which will not be described in detail here.

In the embodiment of the present application, by determining a traveling route of a warehousing robot in conjunction with material storage association information, a current position and working state of the warehousing robot, efficiency of material fetching and discharging is improved. At the same time, when there is a traveling conflict in traveling routes, an obstacle avoidance process is performed, so that fetching and placing of the material is more scientific and reasonable.

FIG. 11 is a structural diagram of a processing terminal provided by an embodiment of the present application. The processing terminal 1100 may be any type of electronic device, such as a background server, a computer device with processing capacity, a terminal device with computing function or scheduling function, etc., which may execute the material fetching and placing method provided by a corresponding method embodiment.

Specifically, reference please made to FIG. 11, the processing terminal 1100 includes:

at least one processor 1101 and a memory 1102 communicationally connected with the at least one processor 1101, where one processor 1101 is taken as an example in FIG. 11.

The processor 1101 and the memory 1102 may be connected through a bus or by other means. In FIG. 11, a bus connection is taken as an example.

As a non-transitory computer readable storage medium, the memory 1102 may be configured to store a non-transitory software program and a non-transitory computer executable program, and a corresponding program may perform a corresponding step of a material fetching and placing method (for example, the steps shown in FIG. 6 to FIG. 10). By running the non-transitory software program or instruction stored in the memory 1102, the processor 1101 executes a material fetching and placing method, that is, the material fetching and placing method described in any of the above corresponding method embodiments is realized.

The memory 1102 may include a storage program area and a storage data area, where the storage program area may store an application program required by an operating system and at least one function; and the storage data area may store data created by executing the above material fetching and placing method, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transitory memory, for example, at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory set remotely relative to the processor 1101, and the remote memory may be connected to the processing terminal 1100 through a network. Examples of the above network include but are not limited to the Internet, an intranet, a LAN, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 1102, and when executed by the one or more processors 1101, execute the material fetching and placing methods in the corresponding method embodiments, for example, execute the method steps S61 and S63 in FIG. 6, the method steps S71 to S77 in FIG. 7, the method steps S81 to S87 in FIG. 8, the method steps S91 to S97 in FIG. 9, the method steps S1001, S1101, S1201 to S1205 in FIG. 10, etc. described above.

The processing terminal 1100 may execute the material fetching and placing methods in the above corresponding method embodiments, and has a corresponding device and beneficial effect of executing the methods. For technical details not described in detail in the material fetching and placing method embodiments, reference please made to the descriptions in the above corresponding intelligent warehousing system embodiments.

An embodiment of the present application further provides a non-transitory computer readable storage medium, the non-transitory computer readable storage medium stores a computer executable instruction, and the computer executable instruction is configured to enable a computer to execute the material fetching and placing methods in the method embodiments. For example, the computer executable instruction, when executed by one or more processors, such as the processor 1101 in FIG. 11, may enable being the above one or more processors to execute the material fetching and placing methods in the corresponding method embodiments. For example, functions of the method steps S61 and S63 in FIG. 6, the method steps S71 to S77 in FIG. 7, the method steps S81 to S87 in FIG. 8, the method steps S91 to S97 in FIG. 9, the method steps S1001, S1101, S1201 to S1205 in FIG. 10, etc. described above are implemented. The above one or more processors may be enabled to execute the material fetching and placing methods in the corresponding method embodiments.

An embodiment of the present application further provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer readable storage medium. The computer program includes a program instruction which, when being executed by a computer, enables the computer to execute the material fetching and placing methods in the above method embodiments. For example, functions of the method steps S61 and S63 in FIG. 6, the method steps S71 to S77 in FIG. 7, the method steps S81 to S87 in FIG. 8, the method steps S91 to S97 in FIG. 9, the method steps S1001, S1101, S1201 to S1205 in FIG. 10, etc. described above are implemented.

An embodiment of the present application further provides a combined shelf, and as shown in FIG. 12, the combined shelf 600 includes: a second fixed shelf 502 and a second portable shelf 302, the second portable shelf 302 is located within a lower space of the second fixed shelf 502. The second fixed shelf 502 is configured to store a material box and/or a pallet, and the second portable shelf 302 is configured to store a material, a material box, and/or a pallet. The material box is configured to store a material, and the pallet is configured to hold a material or a material box.

The material box stored in the second fixed shelf 502 is handled by a first warehousing robot according to a first scheduling instruction.

The second portable shelf 302 is moved by a second warehousing robot according to a second scheduling instruction.

There is one or more combined shelves, and a plurality of combined shelves are respectively located in different positions.

It should be noted that the fixed shelf and the portable shelf involved in the combined shelf in the embodiment of the present application are based on a same concept as the fixed shelf and the portable shelf in the above intelligent warehousing system, and descriptions of the fixed shelf and the portable shelf in the intelligent warehousing system is also suitable for the present embodiment.

Apparatus or device embodiments described above are only schematic, where a unit module described as a separate component may or may not be physically separated, and a component displayed as a module unit may or may not be a physical unit, i.e., it may be located in one place or distributed to a plurality of network module units. Some or all of modules therein may be chosen according to an actual demand to achieve a purpose of the present embodiment.

Through the above descriptions of the embodiments, persons of skills in the art may clearly understand that the various embodiments may be implemented by means of software plus general hardware platform, and certainly, by means of hardware. Based on this understanding, essence of the above technical solutions or a part thereof which make a contribution to related technologies may be embodied in a form of a software product, and the computer software product may be stored in a computer readable storage medium, such as a ROM/ROM, a magnetic disk, an optical disk, etc., including a number of instructions which enables a computer device (probably a personal computer, a processing terminal, or a network device, etc.) to execute the methods described in the various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to explain the technical solutions of the present application, not to limit them; under an idea of the present application, technical features in the above embodiments or different embodiments may further be combined; steps may be implemented in any order; and there are many other changes in different aspects of the present application described above, which are not provided in the details for the sake of simplicity. Although the present application has been explained in detail with reference to the embodiments, persons of skills in the art should understand that modifications may still be made on the technical solutions recited in the various embodiments, or equivalent substitutions may be made on a part of the technical features therein; and these modifications or substitutions will not make the essence of the corresponding technical solutions out of the scope of the technical solutions of the various embodiments in the present application. 

What is claimed is:
 1. An intelligent warehousing system, comprising a first warehousing robot and a second warehousing robot, wherein the first warehousing robot is configured to receive a first scheduling instruction, move to a fixed shelf to fetch and place a material box according to the first scheduling instruction, and handle the material box to a first target position; and the second warehousing robot is configured to receive a second scheduling instruction, move to a portable shelf according to the second scheduling instruction, and handle the portable shelf to a second target position.
 2. The warehousing system according to claim 1, further comprising the fixed shelf and/or the portable shelf, wherein the fixed shelf is configured to store a material box and/or a pallet; the portable shelf is configured to store a material, a material box and/or a pallet; the material box is configured to store a material; and the pallet is configured to hold a material or a material box; wherein the fixed shelf comprises a first fixed shelf and/or a second fixed shelf, the portable shelf comprises a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf; wherein there is one or more first fixed shelves, and/or one or more first portable shelves, and/or one or more combined shelves, respectively, and the first fixed shelves, and/or the first portable shelves, and/or the combined shelves are respectively located at different positions; and wherein shelves of a same type in the first fixed shelf, the first portable shelf, and the combined shelf are respectively located at different positions in a same area.
 3. The warehousing system according to claim 1, further comprising a station, wherein the station is provided with a put wall; the first target position and the second target position are located in a preset area of the station; and the station is configured to sort a material in the material box handled by the first warehousing robot and a material in the portable shelf handled by the second warehousing robot to a put wall corresponding to the materials.
 4. The warehousing system according to claim 1, wherein the first warehousing robot comprises a mobile chassis, a handling component, a lift component, and a storage shelf, wherein the storage shelf is configured to store a material box handled by the handling component from the fixed shelf.
 5. The warehousing system according to claim 1, further comprising: a processing terminal, wherein the processing terminal is configured to send the first scheduling instruction and/or the second scheduling instruction, the first scheduling instruction is used to instruct the first warehousing robot to fetch and place a material from the fixed shelf, and the second scheduling instruction is used to instruct the second warehousing robot to move the portable shelf; wherein the processing terminal stores material storage association information, and the material storage association information comprises at least one of the following information: material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials; and wherein the processing terminal is specifically configured to: obtain information of a material to be fetched and placed, and determine a position of the material to be fetched and placed according to the information of the material to be fetched and placed and the material storage association information; send, according to the position of the material to be fetched and placed, the first scheduling instruction to instruct the first warehousing robot to move to the fixed shelf to fetch and place the material to fetch and place the material; or, send the second scheduling instruction to instruct the second warehousing robot to move to the portable shelf to fetch and place the material.
 6. A material fetching and placing method, applied to a processing terminal, wherein the processing terminal is applied to an intelligent warehousing system; the intelligent warehousing system comprises a first warehousing robot and a second warehousing robot; and the method comprises: obtaining information of a material to be fetched and placed; sending, according to the information of the material to be fetched and placed, a first scheduling instruction to instruct the first warehousing robot to move to a fixed shelf to fetch and place a material box, and handle the material box to a first target position, and/or, sending a second scheduling instruction to instruct the second warehousing robot to move to a portable shelf, and handle the portable shelf to a second target position.
 7. The method according to claim 6, further comprising: storing material storage association information, wherein the material storage association information comprises at least one of the following information: material identification information, material box identification information, shelf identification information, position information of a shelf for storing a material, position information of a material box for storing a material, a corresponding relationship between shelves and material boxes, a corresponding relationship between shelves and materials, a corresponding relationship between material boxes and materials.
 8. The method according to claim 7, further comprising: determining, according to the information of the material to be fetched and placed, an attribute of a container for storing the material to be fetched and placed, wherein the attribute of the container comprises a material box of the fixed shelf, a material box of the portable shelf, and/or the portable shelf; and determining, according to the attribute of the container, a warehousing robot for material fetching and placing from the first warehousing robot and the second warehousing robot, wherein the material box of the fixed shelf corresponds to the first warehousing robot, and the material box of the portable shelf or the portable shelf corresponds to the second warehousing robot.
 9. The method according to claim 8, wherein the fixed shelf comprises a first fixed shelf and/or a second fixed shelf, the portable shelf comprises a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf; when a type of the shelf is a combined shelf, the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method specifically comprises: obtaining the order information of the material to be fetched; determining, according to the order information of the material to be fetched and the material storage association information, an attribute of a container where the material to be fetched is located; if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, sending the first scheduling instruction to instruct the first warehousing robot to move to the second fixed shelf of the combined shelf where the material to be fetched is located, and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf to realize material fetching; and if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, sending the second scheduling instruction to instruct the second warehousing robot to move to the second portable shelf of the combined shelf where the material to be fetched is located, and move the corresponding second portable shelf to realize material fetching.
 10. The method according to claim 8, wherein the fixed shelf comprises a first fixed shelf and/or a second fixed shelf, the portable shelf comprises a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf; when a type of the shelf comprises the combined shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method specifically comprises: obtaining the order information of the material to be fetched; determining, according to the order information of the material to be fetched and the material storage association information, an attribute of a container where the material to be fetched is located; if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, sending the first scheduling instruction to instruct the first warehousing robot to move to the second fixed shelf of the combined shelf where the material to be fetched is located, fetch a material box where the material to be fetched is located from the corresponding second fixed shelf, and store the material box to the first portable shelf at the aisle entrance; when it is necessary to move the first portable shelf at the aisle entrance, sending the second scheduling instruction to instruct the second warehousing robot to handle the first portable shelf to a designated position; if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, sending the second scheduling instruction to instruct the second warehousing robot to move to the second portable shelf of the combined shelf where the material to be fetched is located or the first portable shelf at the aisle entrance, and move the corresponding second portable shelf or the first portable shelf to realize material fetching.
 11. The method according to claim 8, wherein the fixed shelf comprises a first fixed shelf and/or a second fixed shelf, the portable shelf comprises a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf; when a type of the shelf comprises the first fixed shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, and the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method comprises: obtaining the order information of the material to be fetched; determining, according to the order information of the material to be fetched and the material storage association information, an attribute of a container where the material to be fetched is located; if the attribute of the container where the material to be fetched is located corresponds to the material box of the fixed shelf, sending the first scheduling instruction to instruct the first warehousing robot to move to the first fixed shelf where the material to be fetched is located, fetch a material box where the material to be fetched is located from the corresponding first fixed shelf, and store the material box to the first portable shelf at the aisle entrance, and when it is necessary to move the first portable shelf at the aisle entrance, sending the second scheduling instruction to instruct the second warehousing robot to move the first portable shelf to a designated position; if the attribute of the container where the material to be fetched is located corresponds to the material box of the portable shelf and/or the portable shelf, sending the second scheduling instruction to instruct the second warehousing robot to move to the first portable shelf where the material to be fetched is located, and move the corresponding first portable shelf to realize material fetching.
 12. The method according to claim 7, further comprising: determining, according to the information of the material to be fetched and placed, a type of the material to be fetched and placed, wherein the type of the material to be fetched and placed comprises a first ordinary material stored on the fixed shelf, a second ordinary material stored on the portable shelf, a large material, or a pendant material; determining, according to the type of the material to be fetched and placed, a warehousing robot for material fetching and placing from the first warehousing robot and/or the second warehousing robot, wherein the first ordinary material corresponds to the first warehousing robot, and the second ordinary material, the large material or the pendant material correspond to the second warehousing robot.
 13. The method according to claim 7, wherein the fixed shelf comprises a first fixed shelf and/or a second fixed shelf, the portable shelf comprises a first portable shelf and/or a second portable shelf, and the second portable shelf is located within a lower space of the second fixed shelf to form a combined shelf, and the method further comprises: determining, according to the information of the material to be fetched and placed, a type of a shelf for storing the material to be fetched and placed, wherein the type of the shelf comprises the first fixed shelf, the first portable shelf and the combined shelf formed by the second fixed shelf and the second portable shelf; determining, according to the type of the shelf, a warehousing robot for material fetching and placing from the first warehousing robot and the second warehousing robot, wherein the first fixed shelf and the second fixed shelf correspond to the first warehousing robot, and the first portable shelf and the second portable shelf correspond to the second warehousing robot.
 14. The method according to claim 13, wherein the type of the shelf is the combined shelf, and the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method specifically comprises: obtaining the order information of the material to be fetched; querying storage association information of the material to be fetched according to the order information of the material to be fetched; determining the type of the shelf where the material to be fetched is located according to the storage association information of the material to be fetched; and sending the first scheduling instruction to instruct the first warehousing robot to move to the second fixed shelf in the combined shelf where the material to be fetched is located; and fetch a material box where the material to be fetched is located from the corresponding second fixed shelf to realize material fetching; or sending the second scheduling instruction to instruct the second warehousing robot to move to the second portable shelf in the combined shelf where the material to be fetched is located; and move the corresponding second portable shelf to realize material fetching.
 15. The method according to claim 13, wherein the type of the shelf comprises the combined shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method specifically comprises: obtaining the order information of the material to be fetched, and querying a type of the material to be fetched according to the order information of the material to be fetched, wherein the type of the material to be fetched comprises a first ordinary material, a second ordinary material, a large material or a pendant material; when the material to be fetched is the second ordinary material, the large material or the pendant material, instructing the second warehousing robot to fetch the material; when the material to be fetched is the first ordinary material, instructing the first warehousing robot to fetch a material box storing the material to be fetched from the second fixed shelf of the combined shelf, store the material box to a free first portable shelf at the aisle entrance, and sending the second scheduling instruction to instruct the second warehousing robot to move the first portable shelf to a designated position when it is necessary to move the first portable shelf at the aisle entrance.
 16. The method according to claim 13, wherein the type of the shelf comprises the first fixed shelf and the first portable shelf, the first portable shelf is located at an aisle entrance, and the information of the material to be fetched and placed comprises: order information of a material to be fetched, and the method specifically comprises: obtaining the order information of the material to be fetched, and querying storage association information of the material to be fetched according to the order information of the material to be fetched; determining, according to the storage association information of the material to be fetched, a type of a shelf where the material to be fetched is located; sending the first scheduling instruction to instruct the first warehousing robot to move to the first fixed shelf where the material is located, fetch the material box where the material is located from the corresponding first fixed shelf, and move the material box to the first portable shelf at the aisle entrance, and sending the second scheduling instruction to instruct the second warehousing robot to move the first portable shelf to a designated position when it is necessary to move the first portable shelf at the aisle entrance, or, sending the second scheduling instruction to instruct the second warehousing robot to move to the first portable shelf where the material is located, and move the corresponding first portable shelf to realize material fetching.
 17. The method according to claim 8, further comprising: determining, at least according to the determined warehousing robot for material fetching and placing and material storage association information, a traveling route of the warehousing robot.
 18. The method according to claim 8, further comprising: determining, according to current positions and working states of the first warehousing robot and the second warehousing robot, a warehousing robot with optimal efficiency and a traveling route thereof.
 19. The method according to claim 17, wherein the traveling route comprises a main road and an aisle, and the method further comprises: when there is a warehousing robot moving in the aisle, locking the aisle as an one-way street, or, when the first warehousing robot and the second warehousing robot move in the aisle at the same time, making the second warehousing robot to enter into a nearest first fixed shelf to make the first warehousing robot move normally, or, when there are more than two warehousing robots of a same type traveling in the aisle at the same time, determining a moving order according to a preset task priority.
 20. A processing terminal, comprising: at least one processor; and, a memory, communicationally connected with the at least one processor; wherein, the memory stores an instruction executable by the at least one processor, and the instruction is executed by the at least one processor to enable the at least one processor to execute the material fetching and placing method according to claim
 6. 